c = c_0 + h*2*(rand-0.5);

cvx_begin
    variables w(3)
    minimize sum(abs(u-w))
    subject to
        results(k).J*w == c*results(k).g
        % abs(w) <= 0.01
        % abs(u-w) <= 1.0
        % -pi/2 <= u(1)-w(1) <= pi/2
cvx_end